public AutonomyHandler(AutonomyConfiguration configuration, ref TelemetryHandler telemetryHandler)
{
// Assign fields
this.configuration = configuration;
// Create localization logic
localization = new MonteCarloLocalization(configuration);
// Create robot
robot = new Robot(configuration);
// Create stopwatch
stopwatch = new Stopwatch();
// Add telemetry callback
telemetryHandler.TelemetryFeedbackProcessed += telemetryHandler_TelemetryFeedbackProcessed;
// Create timer
timer = new Timer(configuration.Interval);
timer.Elapsed += timer_Elapsed;
// Create algorithms
depositionAlgorithm = new Deposition(configuration);
lowRiskLocalizationAlgorithm = new LowRiskLocalization(configuration);
// Create static state
staticOutput = new Dictionary<CommandFields, short>();
staticOutput[Comms.CommandEncoding.CommandFields.Mode] = 1;
staticOutput[Comms.CommandEncoding.CommandFields.FrontCameraState] = 0;
staticOutput[Comms.CommandEncoding.CommandFields.BucketCameraState] = 0;
staticOutput[Comms.CommandEncoding.CommandFields.RearCameraState] = 0;
}
public Robot(AutonomyConfiguration configuration)
: base()
{
// Set configuration
this.configuration = configuration;
// Set initial zone
this.expectedZone = Zone.Starting;
}
public MonteCarloLocalization(AutonomyConfiguration configuration)
{
// Assign fields
this.configuration = configuration;
// Initialize random number generator
MathHelper.random = new Random((int)DateTime.Now.Ticks);
// Initialize field
field = new Field(FieldWidth, FieldHeight, DigX, ObstacleX, configuration.WallMargin);
}
public Deposition(AutonomyConfiguration configuration)
{
// Assign fields
this.configuration = configuration;
this.turnDirection = TurnDirection.Right;
}
public LowRiskLocalization(AutonomyConfiguration configuration)
{
this.configuration = configuration;
this.turnDirection = TurnDirection.Right;
}
public PotentialFieldTraversal(AutonomyConfiguration configuration)
{
// Assign fields
this.configuration = configuration;
// Set state
}
